CN106990403B - Low-altitude target tracking method based on the fusion of multiband two-stage information - Google Patents
Low-altitude target tracking method based on the fusion of multiband two-stage information Download PDFInfo
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- CN106990403B CN106990403B CN201710293574.6A CN201710293574A CN106990403B CN 106990403 B CN106990403 B CN 106990403B CN 201710293574 A CN201710293574 A CN 201710293574A CN 106990403 B CN106990403 B CN 106990403B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/70—Radar-tracking systems; Analogous systems for range tracking only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention belongs to radar signal processing fields, disclose the low-altitude target tracking method based on the fusion of multiband two-stage information, include: acquisition radar echo signal, obtains the location information of best observed object of the l wave band kth group M frame echo-signal in three-dimensional system of coordinate；And first order measurement fusion is carried out, the target position information after obtaining l wave band kth group echo-signal first order measurement fusion；The filter result of target position information, -1 group echo-signal of l wave band kth after l wave band kth group echo-signal first order measurement fusion and measurement fusion time interval input filter are subjected to tracking filter, successively obtain the filter result of the K group echo-signal of each wave band in L wave band；Setting filtering time of fusion benchmark, second level measurement fusion is carried out in each target position information filtered on time of fusion benchmark to the filter result of the K group echo-signal of each wave band in L wave band, target following is obtained as a result, it is possible to improve the detection probability and tenacious tracking performance of sea-surface target.
Description
Technical field
The invention belongs to Radar Signal Processing Technology field more particularly to it is a kind of based on multiband two-stage information fusion it is low
Null object tracking, the tracking suitable for shipborne radar to target under the environment of low signal-to-noise ratio low latitude.
Background technique
Sea warfare is one of modernization information war important form, and shipborne radar is the important hand of sea enemy's situation detection
Section.There is blind areas when detecting sea short range low flyer for conventional target detection and tracking.Generate the original of blind area
There are two main, first is that the uninterrupted movement due to seawater generates sea clutter, the Doppler channel locating for the target is in extra large miscellaneous
When in wave Doppler spread, target echo will be covered by sea clutter completely；Second is that when due to low altitude tracking target, in addition to receiving thunder
Reach outside the direct reflection wave signal of target, can also receive back wave caused by the mirror reflection and diffusing scattering that ground sea generates and believe
Number, to form multipath effect.Multipath effect makes radar return signal change in amplitude and phase, cause measurement with
Track error may cause loss tracking target when serious.
The difference of multipath echo and direct back wave is that multipath echo multiplies for more one on the basis of direct back wave
For product because of subitem, which is one at a distance from radar altitude, object height, target to radar and the relevant change of wavelength
Amount.The amplitude that multipath echo will lead to complete echo changes with the Product-factor, when multipath echo and direct back wave phase difference
When for obtuse angle, the amplitude of complete echo can be less than the amplitude of direct back wave, to reduce radar to the detection performance of target.
Sea clutter influence can by the way that the method that target is separated with sea clutter is resolved in Doppler domain, and multipath echo no matter
It is in time domain, frequency domain or airspace are inseparable.
What conventional target detection and tracking were carried out both for single band list CF signal, in low signal-to-noise ratio low latitude environment
Under, since the influence of multipath effect floods target echo signal completely by noise signal, the detection probability of target is greatly reduced.
Summary of the invention
In view of the above shortcomings of the prior art, the purpose of the present invention is to provide one kind is merged based on multiband two-stage information
Low-altitude target tracking method, can reduce and even be eliminated under the environment of low latitude multipath effect to the shadow of target detection and tracking effect
It rings, improves shipborne radar to the detection probability and tenacious tracking performance of sea-surface target.
In order to achieve the above objectives, the present invention is realised by adopting the following technical scheme.
A kind of low-altitude target tracking method based on the fusion of multiband two-stage information, described method includes following steps:
Step 1, radar echo signal is obtained, the radar echo signal includes the echo-signal of L wave band, each wave band
Echo-signal be divided into K group echo, every group of echo includes M frame echo-signal；
Enabling l=1, k=1, m=1, wherein l=1,2 ..., L indicate the wave band label of radar echo signal, k=1,
2 ..., K indicate the group number label in each wave band echo-signal, and m=1,2 ..., M indicate the frame number in every group of echo-signal
Label；
Step 2, target initial observation information is obtained according to l wave band kth group m frame echo-signal, the target is initial
Observation information includes observed object number, initial observation distance vector, initial observation azimuth vector and initial observation pitching
Angular amount；
The observed object number is multiple, wherein only one observed object is real goal；The initial observation away from
Include the distance of each observed object in the amount of descriscent, includes the orientation of each observed object in the initial observation azimuth vector
Angle includes the pitch angle of each observed object in the initial observation pitch angle vector；
Step 3, according to the initial observation distance vector, the initial observation azimuth vector, the initial observation is bowed
Elevation angle vector obtains the three-dimensional location coordinates information of each observed object in three-dimensional system of coordinate；
Step 4, the three-dimensional coordinate predictive information of real goal in l wave band kth group m frame echo-signal, and root are set
According to the three-dimensional coordinate predictive information of the real goal and the three-dimensional location coordinates information of each observed object, l is obtained
The location information of best observed object of the wave band kth group m frame echo-signal in three-dimensional system of coordinate；
Step 5, it enables the value of m add 1, and repeats step 2 to step 4, until m > M；To respectively obtain l wave band
The location information of best observed object of the kth group M frame echo-signal in three-dimensional system of coordinate；
Step 6, the position of the best observed object by the l wave band kth group M frame echo-signal in three-dimensional system of coordinate
Information carries out first order measurement fusion, the target position letter after obtaining l wave band kth group echo-signal first order measurement fusion
Breath；
Step 7, by after the l wave band kth group echo-signal first order measurement fusion target position information, described
The filter result and measurement fusion time interval input filter of -1 group echo-signal of l wave band kth carry out tracking filter, obtain
The filter result of l wave band kth group echo-signal, the filter result include the position of X, Y, Z-direction, the speed of X, Y, Z-direction
Degree, the acceleration and error co-variance matrix of X, Y, Z-direction；As k=1, the filter of -1 group echo-signal of l wave band kth is enabled
Wave result is that initial mesh refers to information, and the initial mesh refers to that information refers to target in X, Y, the initial position of Z-direction；
Step 8, it enables the value of k add 1, m=1, and repeats step 2 to step 7, until k>K, to respectively obtain l
The filter result of waveband K group echo-signal；
Step 9, it enables the value of l add 1, k=1, m=1, and repeats step 2 to step 8, until l > L, to obtain respectively
The filter result of the K group echo-signal of each wave band into L wave band；
Step 10, setting filtering time of fusion benchmark, obtains the filtering of the K group echo-signal of each wave band in L wave band
As a result the target position information on the filtering time of fusion benchmark；
Step 11, to the filter result of the K group echo-signal of each wave band in the L wave band when each filtering is merged
Between target position information on benchmark carry out second level measurement fusion, obtain the target position information of second level filtering fusion, institute
Stating the second level and filtering fused target position information includes that target corresponds to filtering time of fusion benchmark in three-dimensional system of coordinate
In each moment position, thus by the target in three-dimensional system of coordinate correspond to filtering time of fusion benchmark in each moment
Motion profile of the position as target, to obtain low-altitude target tracking result.
It is provided by the invention based on multiband two-stage information fusion low-altitude target tracking method compared with prior art, substantially
The target detection performance when environment of low signal-to-noise ratio low latitude is improved, while keeping target tracking accuracy higher；And the technology of the present invention side
Case ensures target under low signal-to-noise ratio environment using multi-carrier frequency echo-signal, and at least a kind of carrier frequency echo can detect target,
It improves the detection probability of target: by the observation information fusion method in the wave band of the first order, keeping detection information more accurate,
Single band tracking performance is improved, tracking accuracy is further increased by the filtering fusion between the wave band of the second level and tracking is stablized
Property.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the process signal of the low-altitude target tracking method provided by the invention based on the fusion of multiband two-stage information
Figure；
Fig. 2 is traditional provided by the invention to be melted based on single band list carrier frequency tracking and based on multiband two-stage information
The distance of the low-altitude target tracking method of conjunction detects contrast schematic diagram；
Fig. 3 is respectively traditional based on single band list carrier frequency tracking and provided by the invention based on more for (a)~(c)
Distance, azimuth, the pitch angle contrast schematic diagram of the low-altitude target tracking method of wave band two-stage information fusion.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of low-altitude target tracking method based on the fusion of multiband two-stage information, as shown in Figure 1, the method includes such as
Lower step:
Step 1, radar echo signal is obtained, the radar echo signal includes the echo-signal of L wave band, each wave band
Echo-signal be divided into K group echo, every group of echo includes M frame echo-signal.
Enabling l=1, k=1, m=1, wherein l=1,2 ..., L indicate the wave band label of radar echo signal, k=1,
2 ..., K indicate the group number label in each wave band echo-signal, and m=1,2 ..., M indicate the frame number in every group of echo-signal
Label.
Step 2, target initial observation information is obtained according to l wave band kth group m frame echo-signal, the target is initial
Observation information includes observed object number, initial observation distance vector, initial observation azimuth vector and initial observation pitching
Angular amount.
The observed object number is multiple, wherein only one observed object is real goal；The initial observation away from
Include the distance of each observed object in the amount of descriscent, includes the orientation of each observed object in the initial observation azimuth vector
Angle includes the pitch angle of each observed object in the initial observation pitch angle vector.
You need to add is that l wave band kth group m frame echo-signal through conventional radar signal processing flow (pulse pressure
Contracting, moving-target detection, CFAR detection and Monopulse estimation etc.) after, its corresponding target initial observation information can be obtained.
Step 3, according to the initial observation distance vector, the initial observation azimuth vector, the initial observation is bowed
Elevation angle vector obtains the three-dimensional location coordinates information of each observed object in three-dimensional system of coordinate.
Specifically, target initial observation information is equivalent to the information under polar coordinates, need to carry out coordinate system conversion, by mesh
Target distance, azimuth and pitch angle initial observation vector are converted to the initial observation information of X, Y under three-dimensional system of coordinate, Z-direction.
Step 4, the three-dimensional coordinate predictive information of real goal in l wave band kth group m frame echo-signal, and root are set
According to the three-dimensional coordinate predictive information of the real goal and the three-dimensional location coordinates information of each observed object, l is obtained
The location information of best observed object of the wave band kth group m frame echo-signal in three-dimensional system of coordinate.
In step 4, the three-dimensional coordinate predictive information of real goal in l wave band kth group m frame echo-signal, tool are set
Body includes:
(4a) as k=1, the three-dimensional coordinate for setting real goal in l wave band kth group m frame echo-signal predicts letter
Breath is that initial mesh refers to information, and the initial mesh refers to that information refers to that target, can be according to prior information in X, Y, the initial position of Z-direction
It obtains；
As k > 1, the three-dimensional coordinate for setting real goal in l wave band kth group m frame echo-signal according to the following formula is pre-
Measurement information:
Wherein, X_p(l, k, m)、Y_p(l, k, m)、Z_p(l, k, m)It respectively indicates true in l wave band kth group m frame echo-signal
X-direction coordinate predictive information, Y-direction coordinate predictive information, the Z-direction coordinate predictive information of target, X_f(l, k-1)、Y_f(l, k-1)、
Z_f(l, k-1)Respectively indicate X-direction coordinate, the Y-direction coordinate, Z-direction in the filter result of -1 group echo-signal of l wave band kth
Coordinate, VX_f(l, k-1)、VY_f(l, k-1), top _ f(l, k-1)In the filter result for respectively indicating -1 group echo-signal of l wave band kth
X-direction speed, Y-direction speed, Z-direction speed, AX_f(l, k-1)、AY_f(l, k-1)、AZ_f(l, k-1)Respectively indicate l wave band kth-
X-direction acceleration, Y-direction acceleration, Z-direction acceleration in the filter result of 1 group of echo-signal, Δ t(l, k, m)Indicate l
Time difference of the time of fusion center of -1 group echo-signal of wave band kth to l wave band kth group m frame echo-signal time centre；
(4b) is sat according to the three-dimensional coordinate predictive information of the real goal and the three-dimensional position of each observed object
Information is marked, obtains the position of best observed object of the l wave band kth group m frame echo-signal in three-dimensional system of coordinate according to the following formula
Confidence breath:
Wherein, X_o(l, k, m)(x)、Y_o(l, k, m)(x)、Z_o(l, k, m)(x) l wave band kth group m frame echo is respectively indicated
X-direction coordinate information, Y-direction coordinate information, the Z-direction coordinate information of x-th of observed object, Δ X in signal(l, k, m)(x)、Δ
Y(l, k, m)(x)、ΔZ(l, k, m)(x) the observation letter of x-th of observed object in l wave band kth group m frame echo-signal is respectively indicated
The difference of breath and predictive information in X-direction coordinate, Y-direction coordinate, Z-direction coordinate, x expression observed object number, x=1,
2 ..., tar_num(l, k, m), tar_num(l, k, m)For the total number of observed object in l wave band kth group m frame echo-signal, Δ
R(l, k, m)(x) indicate the observation information of x-th observed object and predictive information in l wave band kth group m frame echo-signal away from
From error, and x | min [Δ R(l, k, m)(x)] it } indicates to ask so that Δ R(l, k, m)(x) the smallest observed object number x_best(l, k, m),
X_o(l, k, m)(x_best(l, k, m))、Y_o(l, k, m)(x_best(l, k, m))、Z_o(l, k, m)(x_best(l, k, m)) respectively indicate l wave
Make Δ R in section kth group m frame echo-signal(l, k, m)(x) the smallest observed object x_best(l, k, m)X-direction coordinate information,
Y-direction coordinate information, Z-direction coordinate information, X_o_only(l, 1, m)、Y_o_only(l, 1, m)、Z_o_only(l, 1, m)It respectively indicates
The location information of best observed object of the l wave band kth group m frame echo-signal in three-dimensional system of coordinate.
Step 5, it enables the value of m add 1, and repeats step 2 to step 4, until m > M；To respectively obtain l wave band
The location information of best observed object of the kth group M frame echo-signal in three-dimensional system of coordinate.
Step 6, the position of the best observed object by the l wave band kth group M frame echo-signal in three-dimensional system of coordinate
Information carries out first order measurement fusion, the target position letter after obtaining l wave band kth group echo-signal first order measurement fusion
Breath.
Best observation in step 6, using following formula by the l wave band kth group M frame echo-signal in three-dimensional system of coordinate
The location information of target carries out first order measurement fusion, the mesh after obtaining l wave band kth group echo-signal first order measurement fusion
Cursor position information:
Wherein, X_o_inte(l, k)、Y_o_inte(l, k)、Z_o_inte(l, k)Respectively indicate l wave band kth group echo-signal
Target after first order measurement fusion is in X-direction coordinate information, Y-direction coordinate information, Z-direction coordinate information, Δ R(l, k, m)(x_
best(l, k, m)) indicate l wave band kth group m frame echo-signal in observation information and predictive information minimum distance error.
Step 7, by after the l wave band kth group echo-signal first order measurement fusion target position information, described
The filter result and measurement fusion time interval input filter of -1 group echo-signal of l wave band kth carry out tracking filter, obtain
The filter result of l wave band kth group echo-signal, the filter result include the position of X, Y, Z-direction, the speed of X, Y, Z-direction
Degree, the acceleration and error co-variance matrix of X, Y, Z-direction；As k=1, the filter of -1 group echo-signal of l wave band kth is enabled
Wave result is that initial mesh refers to information.
In step 7,
Remember tt(l, k, m)For the centre time of l wave band kth group m frame echo-signal, then l wave band kth group echo-signal
Measurement fusion time centreIn step 7, the measurement fusion time interval is returned for l wave band kth group
The time interval of the measurement fusion time centre of the measurement fusion time centre and -1 group echo-signal of l wave band kth of wave signal；
Remember that the filter result of l wave band kth group echo-signal, the filter result include the position of X, Y, Z-direction
X_f(l, k)、Y_f(l, k)、Z_f(l, k), the speed VX_f of X, Y, Z-direction(l, k)、VY_f(l, k)、VZ_f(l, k), the acceleration of X, Y, Z-direction
Spend AX_f(l, k)、AY_f(l, k)、AZ_f(l, k)And error co-variance matrix Φ _ f(l, k)。
Step 8, it enables the value of k add 1, m=1, and repeats step 2 to step 7, until k > K, to respectively obtain l
The filter result of waveband K group echo-signal.
Step 9, it enables the value of l add 1, k=1, m=1, and repeats step 2 to step 8, until l > L, to obtain respectively
The filter result of the K group echo-signal of each wave band into L wave band.
Step 10, setting filtering time of fusion benchmark, obtains the filtering of the K group echo-signal of each wave band in L wave band
As a result the target position information on the filtering time of fusion benchmark.
In step 10,
Filtering time of fusion benchmark is set as { T1, T2..., Ti..., TN, Ti+1-Ti=Δ T, i=1,2 ..., N-1, Δ T
For constant, filtering time of fusion interval is indicated；
The measurement fusion time centre of l wave band kth group echo-signal is denoted as t(l, k), then when the measurement fusion of l wave band
Between sequence be denoted as { t(l, 1), t(l, 2)..., t(l, K)}；L wave band is obtained in filtering time of fusion benchmark with linear interpolation extrapolation
On target position information, the l wave band filtering time of fusion benchmark on target position information include X-direction coordinate
InformationThe coordinate information of Y-directionThe side Z
To coordinate informationAnd error co-variance matrixWherein, subscript (l, Ti) indicate l wave band in filtering time of fusion benchmark TiOn
Target position information；
L is enabled to take 1,2 respectively ..., L, so that the filter result for obtaining the K group echo-signal of each wave band in L wave band exists
Target position information on the filtering time of fusion benchmark.
Step 11, to the filter result of the K group echo-signal of each wave band in the L wave band when each filtering is merged
Between target position information on benchmark carry out second level measurement fusion, obtain the target position information of second level filtering fusion, institute
Stating the second level and filtering fused target position information includes that target corresponds to filtering time of fusion benchmark in three-dimensional system of coordinate
In each moment position, thus by the target in three-dimensional system of coordinate correspond to filtering time of fusion benchmark in each moment
Motion profile of the position as target, to obtain low-altitude target tracking result.
In step 11,
It is merged using filter result of the following formula to the K group echo-signal of each wave band in the L wave band in the filtering
Target position information on time reference carries out second level measurement fusion, obtains filtering time of fusion benchmark TiOn the second level filter
The target position information of wave fusion
Wherein,
Enable TiT is taken respectively1, T2..., Ti..., TN, to obtain the mesh of the second level filtering fusion on each time reference
Cursor position information.
Low-altitude target tracking method provided by the invention based on multiband two-graded fusion compared with prior art, greatly improves
Target detection performance when low signal-to-noise ratio low latitude environment, while making target tracking accuracy higher.Conventional target detection and with
Track is all based on the progress of single band list CF signal, under the environment of low signal-to-noise ratio low latitude, since the influence of multipath effect makes mesh
Mark echo-signal is flooded completely by noise signal, and the detection probability of target is greatly reduced.And the present invention is believed using multi-carrier frequency echo
Number ensure target under low signal-to-noise ratio environment, at least a kind of carrier frequency echo can detect target, and the detection for improving target is general
Rate.Due to the single band multi-carrier frequency observation information fusion method of the first order, keep detection information more accurate, improve single band with
Track performance.Since the multiband filtering fusion of the second level further increases tracking accuracy and tracking stability.
Effect of the invention is further illustrated by following l-G simulation test:
1, simulated conditions:
For the validity for verifying the low-altitude target tracking method provided by the invention based on multiband two-graded fusion, with double wave
For section, setting wave band 1 is 13G~16GHz, and 5 carrier frequency are respectively 13G, 13.75G, 14.5G, 15.25G, 16GHz.Wave band 2
For 35G~38G, 5 carrier frequency are respectively 35G, 35.75G, 36.5G, 37.25G, 38GHz.Radar altitude is 15 meters, object height
For 100 meters (low latitudes), for target in the flat in-plane moving of yoz, multipath reflection coefficient is 0.6.
2, emulation content and result:
When target initial point is at the place 8km or so, and signal-to-noise ratio is -15dB, respectively with traditional single band list carrier frequency method with
The method of the present invention carries out target detection and tracking and converts distance and angle information for tracking result.It passes as can be seen from Figure 2
System in the environment of low signal-to-noise ratio low latitude, is occurred more missing inspection situation (distance is 0 i.e. missing inspection) based on single band list carrier frequency method, and
The method of the present invention does not occur missing inspection situation, and detection probability greatly improved.As can be seen that tradition is based on single band from Fig. 3 (a)
The range-tracking error of single carrier frequency method is -1.5m~1.5m, and the method for the present invention range-tracking error is -0.5m~0.5m,
It is substantially better than conventional method；As can be seen that traditional Bearings tracking error based on single band list carrier frequency method from Fig. 3 (b)
~0.02 degree is spent for -0.02, and the method for the present invention Bearings tracking error is -0.005~0.005 degree of degree, hence it is evident that better than tradition
Method；From Fig. 3 (c) as can be seen that traditional pitching angle tracking error based on single band list carrier frequency method be -0.04 degree~
0.04 degree, and the method for the present invention pitching angle tracking error is -0.008~0.008 degree of degree, hence it is evident that it is better than conventional method.
To sum up, no matter the tracking performance of the method for the present invention is based on singly from distance or angleonly tracking effect compared to tradition
The tracking effect of wave band list carrier frequency method is significantly increased.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (6)
1. a kind of low-altitude target tracking method based on the fusion of multiband two-stage information, which is characterized in that the method includes such as
Lower step:
Step 1, radar echo signal is obtained, the radar echo signal includes the echo-signal of L wave band, and each wave band returns
Wave signal is divided into K group echo, and every group of echo includes M frame echo-signal；
L=1,2 ..., L are enabled, indicates that the wave band label of radar echo signal, k=1,2 ..., K indicate each wave band echo-signal
In group number label, m=1,2 ..., M indicate the frame number label in every group of echo-signal；Initialization l, k, m initial value be respectively
1；
Step 2, target initial observation information, the target initial observation are obtained according to l wave band kth group m frame echo-signal
Information includes observed object number, and initial observation distance vector, initial observation azimuth vector and initial observation pitching are angular
Amount；
The observed object number is multiple, wherein only one observed object is real goal；The initial observation distance to
Include the distance of each observed object in amount, include the azimuth of each observed object in the initial observation azimuth vector,
It include the pitch angle of each observed object in the initial observation pitch angle vector；
Step 3, according to the initial observation distance vector, the initial observation azimuth vector, the initial observation pitch angle
Vector obtains the three-dimensional location coordinates information of each observed object in three-dimensional system of coordinate；
Step 4, the three-dimensional coordinate predictive information of real goal in l wave band kth group m frame echo-signal is set, and according to institute
The three-dimensional coordinate predictive information of real goal and the three-dimensional location coordinates information of each observed object are stated, l wave band is obtained
The location information of best observed object of the kth group m frame echo-signal in three-dimensional system of coordinate；
Step 5, it enables the value of m add 1, and repeats step 2 to step 4, until m > M；To respectively obtain l wave band kth group M
The location information of best observed object of the frame echo-signal in three-dimensional system of coordinate；
Step 6, the location information of the best observed object by the l wave band kth group M frame echo-signal in three-dimensional system of coordinate
Carry out first order measurement fusion, the target position information after obtaining l wave band kth group echo-signal first order measurement fusion；
Step 7, by target position information, the l wave after the l wave band kth group echo-signal first order measurement fusion
The filter result and measurement fusion time interval input filter of section -1 group echo-signal of kth carry out tracking filter, obtain l
The filter result of wave band kth group echo-signal, the filter result include target in X, Y, the position of Z-direction, X, Y, Z-direction
Speed, the acceleration and error co-variance matrix of X, Y, Z-direction；As k=1, -1 group echo-signal of l wave band kth is enabled
Filter result is that initial mesh refers to information, and the initial mesh refers to that information refers to target in X, Y, the initial position of Z-direction；
Step 8, it enables the value of k add 1, m=1, and repeats step 2 to step 7, until k > K, to respectively obtain l waveband K
The filter result of group echo-signal；
Step 9, it enables the value of l add 1, k=1, m=1, and repeats step 2 to step 8, until l > L, to respectively obtain L
The filter result of the K group echo-signal of each wave band in wave band；
Step 10, setting filtering time of fusion benchmark, obtains the filter result of the K group echo-signal of each wave band in L wave band
Target position information on the filtering time of fusion benchmark；
Step 11, to the filter result of the K group echo-signal of each wave band in the L wave band in each filtering time of fusion base
Target position information in standard carries out second level measurement fusion, obtains the target position information of second level filtering fusion, and described the
The fused target position information of secondary filter includes that target corresponds in filtering time of fusion benchmark respectively in three-dimensional system of coordinate
The position at a moment, so that the target to be corresponded to the position at each moment in filtering time of fusion benchmark in three-dimensional system of coordinate
The motion profile as target is set, to obtain low-altitude target tracking result.
2. a kind of low-altitude target tracking method based on the fusion of multiband two-stage information according to claim 1, feature
It is, in step 4, sets the three-dimensional coordinate predictive information of real goal in l wave band kth group m frame echo-signal, it is specific to wrap
It includes:
(4a) as k=1, set the three-dimensional coordinate predictive information of real goal in l wave band kth group m frame echo-signal as
Initial mesh refers to information, and the initial mesh refers to that information refers to target in X, Y, the initial position of Z-direction；
As k > 1, the three-dimensional coordinate prediction letter of real goal in l wave band kth group m frame echo-signal is set according to the following formula
Breath:
Wherein, X_p(l,k,m)、Y_p(l,k,m)、Z_p(l,k,m)Respectively indicate real goal in l wave band kth group m frame echo-signal
X-direction coordinate predictive information, Y-direction coordinate predictive information, Z-direction coordinate predictive information, X_f(l,k-1)、Y_f(l,k-1)、Z_
f(l,k-1)The X-direction coordinate in the filter result of -1 group echo-signal of l wave band kth, Y-direction coordinate, Z-direction is respectively indicated to sit
Mark, VX_f(l,k-1)、VY_f(l,k-1)、VZ_f(l,k-1)Respectively indicate the X in the filter result of -1 group echo-signal of l wave band kth
Direction speed, Y-direction speed, Z-direction speed, AX_f(l,k-1)、AY_f(l,k-1)、AZ_f(l,k-1)Respectively indicate l wave band kth -1
X-direction acceleration, Y-direction acceleration, Z-direction acceleration in the filter result of group echo-signal, △ t(l,k,m)Indicate l wave
Time difference of the time of fusion center of section -1 group echo-signal of kth to l wave band kth group m frame echo-signal time centre；
(4b) believes according to the three-dimensional coordinate predictive information of the real goal and the three-dimensional location coordinates of each observed object
Breath obtains the position letter of best observed object of the l wave band kth group m frame echo-signal in three-dimensional system of coordinate according to the following formula
Breath:
Wherein, X_o(l,k,m)(x)、Y_o(l,k,m)(x)、Z_o(l,k,m)(x) l wave band kth group m frame echo-signal is respectively indicated
In x-th of observed object X-direction coordinate information, Y-direction coordinate information, Z-direction coordinate information, △ X(l,k,m)(x)、△
Y(l,k,m)(x)、△Z(l,k,m)(x) the observation letter of x-th of observed object in l wave band kth group m frame echo-signal is respectively indicated
The difference of breath and predictive information in X-direction coordinate, Y-direction coordinate, Z-direction coordinate, x expression observed object number, x=1,
2,…,tar_num(l,k,m), tar_num(l,k,m)For the total number of observed object in l wave band kth group m frame echo-signal, △
R(l,k,m)(x) indicate the observation information of x-th observed object and predictive information in l wave band kth group m frame echo-signal away from
From error, and x | min [△ R(l,k,m)(x)] it } indicates to ask so that △ R(l,k,m)(x) the smallest observed object number x_best(l,k,m),
X_o(l,k,m)(x_best(l,k,m))、Y_o(l,k,m)(x_best(l,k,m))、Z_o(l,k,m)(x_best(l,k,m)) respectively indicate l wave
Make △ R in section kth group m frame echo-signal(l,k,m)(x) the smallest observed object x_best(l,k,m)X-direction coordinate information,
Y-direction coordinate information, Z-direction coordinate information, X_o_only(l,k,m)、Y_o_only(l,k,m)、Z_o_only(l,k,m)It respectively indicates
The location information of best observed object of the l wave band kth group m frame echo-signal in three-dimensional system of coordinate.
3. a kind of low-altitude target tracking method based on the fusion of multiband two-stage information according to claim 2, feature
It is, the best observation mesh in step 6, using following formula by the l wave band kth group M frame echo-signal in three-dimensional system of coordinate
Target location information carries out first order measurement fusion, the target after obtaining l wave band kth group echo-signal first order measurement fusion
Location information:
Wherein, X_o_inte(l,k)、Y_o_inte(l,k)、Z_o_inte(l,k)Respectively indicate l wave band kth group echo-signal first
Target after grade measurement fusion is in X-direction coordinate information, Y-direction coordinate information, Z-direction coordinate information, △ R(l,k,m)(x_
best(l,k,m)) indicate l wave band kth group m frame echo-signal in observation information and predictive information minimum distance error.
4. a kind of low-altitude target tracking method based on the fusion of multiband two-stage information according to claim 3, feature
It is, in step 7,
Remember tt(l,k,m)For the centre time of l wave band kth group m frame echo-signal, the then sight of l wave band kth group echo-signal
Survey time of fusion centerIn step 7, the measurement fusion time interval is l wave band kth group echo letter
Number measurement fusion time centre and -1 group echo-signal of l wave band kth measurement fusion time centre time interval；
Remember that the filter result of l wave band kth group echo-signal, the filter result include the position X_ of X, Y, Z-direction
f(l,k)、Y_f(l,k)、Z_f(l,k), the speed VX_f of X, Y, Z-direction(l,k)、VY_f(l,k)、VZ_f(l,k), the acceleration of X, Y, Z-direction
AX_f(l,k)、AY_f(l,k)、AZ_f(l,k)And error co-variance matrix Φ _ f(l,k)。
5. a kind of low-altitude target tracking method based on the fusion of multiband two-stage information according to claim 4, feature
It is, in step 10,
Filtering time of fusion benchmark is set as { T1,T2,…,Ti,…,TN, Ti+1-Ti=△ T, i=1,2 ..., N-1, △ T are normal
Number indicates filtering time of fusion interval；TiIndicate i-th of filtering time of fusion benchmark；
The measurement fusion time centre of l wave band kth group echo-signal is denoted as t(l,k), then the measurement fusion time sequence of l wave band
Column are denoted as { t(l,1),t(l,2),…,t(l,K)}；L wave band is obtained on filtering time of fusion benchmark with linear interpolation extrapolation
Target position information, target position information of the l wave band on filtering time of fusion benchmark include the coordinate information of X-directionThe coordinate information of Y-directionThe seat of Z-direction
Mark informationAnd error co-variance matrix
Wherein, subscript (l, Ti) indicate l wave band in filtering time of fusion benchmark TiOn target position information；
L is enabled to take 1,2 respectively ..., L, to obtain the filter result of the K group echo-signal of each wave band in L wave band described
Filter the target position information on time of fusion benchmark.
6. a kind of low-altitude target tracking method based on the fusion of multiband two-stage information according to claim 5, feature
It is, in step 11,
Using following formula to the filter result of the K group echo-signal of each wave band in the L wave band in the filtering time of fusion
Target position information on benchmark carries out second level measurement fusion, obtains filtering time of fusion benchmark TiOn the second level filtering melt
The target position information of conjunction
Wherein,
Wherein, []-1Indicate inversion operation,Indicate l wave band in filtering time of fusion benchmark TiOn target position information
In X-direction coordinate information,Indicate l wave band in filtering time of fusion benchmark TiOn target position information in Y
The coordinate information in direction,Indicate l wave band in filtering time of fusion benchmark TiOn target position information in Z-direction
Coordinate information；Enable TiT is taken respectively1,T2,…,Ti,…,TN, to obtain the mesh of the second level filtering fusion on each time reference
Cursor position information.
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